The defender has extended the length of his previous deal by an additional 12 months, the Ligue 1 champions confirmed on Saturday.
Kimpembe signed a five-year deal in August 2018 and has remained a key part of the PSG defence under Thomas Tuchel, who took charge in the same year.
A product of PSG's youth system, Kimpembe has played 136 competitive games for the club, scoring once.
A World Cup winner with France two years ago, the 24-year-old has claimed 13 trophies with the senior PSG side.
"The club wishes Presnel continued success in his career in the Paris Saint-Germain colours," the club said in a statement.
💬 @kimpembe_3 "Paris is my team, and the club where I came through the ranks. I have been here since I was eight years old and to be able to be here for the long-term is a real honour for me." ✍️ #Kimpembe2024 pic.twitter.com/NKSYMhz67i— Paris Saint-Germain (@PSG_English) July 11, 2020
PSG are due to face Le Havre in a friendly match on Sunday, their first outing since they beat Borussia Dortmund 2-0 in the Champions League last-16 second leg on March 11.
Their next competitive game is the Coupe de France final against Saint-Etienne on July 24.